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Merge pull request #1887 from borglab/feature/essential_transfer
EssentialTransferFactor, EssentialTransferFactorK, and python wrapping
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| /* ---------------------------------------------------------------------------- | ||
| * GTSAM Copyright 2010, Georgia Tech Research Corporation, | ||
| * Atlanta, Georgia 30332-0415 | ||
| * All Rights Reserved | ||
| * Authors: Frank Dellaert, et al. (see THANKS for the full author list) | ||
| * See LICENSE for the license information | ||
| * -------------------------------------------------------------------------- */ | ||
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| /** | ||
| * @file EssentialViewGraphExample.cpp | ||
| * @brief View-graph calibration with essential matrices. | ||
| * @author Frank Dellaert | ||
| * @date October 2024 | ||
| */ | ||
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| #include <gtsam/geometry/Cal3f.h> | ||
| #include <gtsam/geometry/EssentialMatrix.h> | ||
| #include <gtsam/geometry/PinholeCamera.h> | ||
| #include <gtsam/geometry/Point2.h> | ||
| #include <gtsam/geometry/Point3.h> | ||
| #include <gtsam/geometry/Pose3.h> | ||
| #include <gtsam/inference/EdgeKey.h> | ||
| #include <gtsam/inference/Symbol.h> | ||
| #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> | ||
| #include <gtsam/nonlinear/NonlinearFactorGraph.h> | ||
| #include <gtsam/nonlinear/Values.h> | ||
| #include <gtsam/sfm/TransferFactor.h> // Contains EssentialTransferFactorK | ||
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| #include <vector> | ||
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| #include "SFMdata.h" // For createPoints() and posesOnCircle() | ||
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| using namespace std; | ||
| using namespace gtsam; | ||
| using namespace symbol_shorthand; // For K(symbol) | ||
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| // Main function | ||
| int main(int argc, char* argv[]) { | ||
| // Define the camera calibration parameters | ||
| Cal3f cal(50.0, 50.0, 50.0); | ||
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| // Create the set of 8 ground-truth landmarks | ||
| vector<Point3> points = createPoints(); | ||
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| // Create the set of 4 ground-truth poses | ||
| vector<Pose3> poses = posesOnCircle(4, 30); | ||
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| // Calculate ground truth essential matrices, 1 and 2 poses apart | ||
| auto E1 = EssentialMatrix::FromPose3(poses[0].between(poses[1])); | ||
| auto E2 = EssentialMatrix::FromPose3(poses[0].between(poses[2])); | ||
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| // Simulate measurements from each camera pose | ||
| std::array<std::array<Point2, 8>, 4> p; | ||
| for (size_t i = 0; i < 4; ++i) { | ||
| PinholeCamera<Cal3f> camera(poses[i], cal); | ||
| for (size_t j = 0; j < 8; ++j) { | ||
| p[i][j] = camera.project(points[j]); | ||
| } | ||
| } | ||
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| // Create the factor graph | ||
| NonlinearFactorGraph graph; | ||
| using Factor = EssentialTransferFactorK<Cal3f>; | ||
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| for (size_t a = 0; a < 4; ++a) { | ||
| size_t b = (a + 1) % 4; // Next camera | ||
| size_t c = (a + 2) % 4; // Camera after next | ||
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| // Vectors to collect tuples for each factor | ||
| std::vector<std::tuple<Point2, Point2, Point2>> tuples1, tuples2, tuples3; | ||
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| // Collect data for the three factors | ||
| for (size_t j = 0; j < 8; ++j) { | ||
| tuples1.emplace_back(p[a][j], p[b][j], p[c][j]); | ||
| tuples2.emplace_back(p[a][j], p[c][j], p[b][j]); | ||
| tuples3.emplace_back(p[c][j], p[b][j], p[a][j]); | ||
| } | ||
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| // Add transfer factors between views a, b, and c. | ||
| graph.emplace_shared<Factor>(EdgeKey(a, c), EdgeKey(b, c), tuples1); | ||
| graph.emplace_shared<Factor>(EdgeKey(a, b), EdgeKey(b, c), tuples2); | ||
| graph.emplace_shared<Factor>(EdgeKey(a, c), EdgeKey(a, b), tuples3); | ||
| } | ||
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| // Formatter for printing keys | ||
| auto formatter = [](Key key) { | ||
| if (Symbol(key).chr() == 'k') { | ||
| return (string)Symbol(key); | ||
| } else { | ||
| EdgeKey edge(key); | ||
| return (std::string)edge; | ||
| } | ||
| }; | ||
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| graph.print("Factor Graph:\n", formatter); | ||
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| // Create a delta vector to perturb the ground truth (small perturbation) | ||
| Vector5 delta; | ||
| delta << 1, 1, 1, 1, 1; | ||
| delta *= 1e-2; | ||
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| // Create the initial estimate for essential matrices | ||
| Values initialEstimate; | ||
| for (size_t a = 0; a < 4; ++a) { | ||
| size_t b = (a + 1) % 4; // Next camera | ||
| size_t c = (a + 2) % 4; // Camera after next | ||
| initialEstimate.insert(EdgeKey(a, b), E1.retract(delta)); | ||
| initialEstimate.insert(EdgeKey(a, c), E2.retract(delta)); | ||
| } | ||
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| // Insert initial calibrations (using K symbol) | ||
| for (size_t i = 0; i < 4; ++i) { | ||
| initialEstimate.insert(K(i), cal); | ||
| } | ||
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| initialEstimate.print("Initial Estimates:\n", formatter); | ||
| graph.printErrors(initialEstimate, "Initial Errors:\n", formatter); | ||
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| // Optimize the graph and print results | ||
| LevenbergMarquardtParams params; | ||
| params.setlambdaInitial(1000.0); // Initialize lambda to a high value | ||
| params.setVerbosityLM("SUMMARY"); | ||
| Values result = | ||
| LevenbergMarquardtOptimizer(graph, initialEstimate, params).optimize(); | ||
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| cout << "Initial error = " << graph.error(initialEstimate) << endl; | ||
| cout << "Final error = " << graph.error(result) << endl; | ||
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| result.print("Final Results:\n", formatter); | ||
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| E1.print("Ground Truth E1:\n"); | ||
| E2.print("Ground Truth E2:\n"); | ||
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| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,106 @@ | ||
| /* ---------------------------------------------------------------------------- | ||
| * GTSAM Copyright 2010, Georgia Tech Research Corporation, | ||
| * Atlanta, Georgia 30332-0415 | ||
| * All Rights Reserved | ||
| * Authors: Frank Dellaert, et al. (see THANKS for the full author list) | ||
| * See LICENSE for the license information | ||
| * -------------------------------------------------------------------------- */ | ||
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| /* ---------------------------------------------------------------------------- | ||
| * GTSAM Copyright 2010 | ||
| * See LICENSE for the license information | ||
| * -------------------------------------------------------------------------- */ | ||
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| /** | ||
| * @file Cal3f.cpp | ||
| * @brief Implementation file for Cal3f class | ||
| * @author Frank Dellaert | ||
| * @date October 2024 | ||
| */ | ||
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| #include <gtsam/base/Matrix.h> | ||
| #include <gtsam/base/Vector.h> | ||
| #include <gtsam/geometry/Cal3f.h> | ||
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| #include <iostream> | ||
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| namespace gtsam { | ||
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| /* ************************************************************************* */ | ||
| Cal3f::Cal3f(double f, double u0, double v0) : Cal3(f, f, 0.0, u0, v0) {} | ||
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| /* ************************************************************************* */ | ||
| std::ostream& operator<<(std::ostream& os, const Cal3f& cal) { | ||
| os << "f: " << cal.fx_ << ", px: " << cal.u0_ << ", py: " << cal.v0_; | ||
| return os; | ||
| } | ||
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| /* ************************************************************************* */ | ||
| void Cal3f::print(const std::string& s) const { | ||
| if (!s.empty()) std::cout << s << " "; | ||
| std::cout << *this << std::endl; | ||
| } | ||
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| /* ************************************************************************* */ | ||
| bool Cal3f::equals(const Cal3f& K, double tol) const { | ||
| return Cal3::equals(static_cast<const Cal3&>(K), tol); | ||
| } | ||
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| /* ************************************************************************* */ | ||
| Vector1 Cal3f::vector() const { | ||
| Vector1 v; | ||
| v << fx_; | ||
| return v; | ||
| } | ||
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| /* ************************************************************************* */ | ||
| Point2 Cal3f::uncalibrate(const Point2& p, OptionalJacobian<2, 1> Dcal, | ||
| OptionalJacobian<2, 2> Dp) const { | ||
| assert(fx_ == fy_ && s_ == 0.0); | ||
| const double x = p.x(), y = p.y(); | ||
| const double u = fx_ * x + u0_; | ||
| const double v = fx_ * y + v0_; | ||
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| if (Dcal) { | ||
| Dcal->resize(2, 1); | ||
| (*Dcal) << x, y; | ||
| } | ||
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| if (Dp) { | ||
| Dp->resize(2, 2); | ||
| (*Dp) << fx_, 0.0, // | ||
| 0.0, fx_; | ||
| } | ||
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| return Point2(u, v); | ||
| } | ||
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| /* ************************************************************************* */ | ||
| Point2 Cal3f::calibrate(const Point2& pi, OptionalJacobian<2, 1> Dcal, | ||
| OptionalJacobian<2, 2> Dp) const { | ||
| assert(fx_ == fy_ && s_ == 0.0); | ||
| const double u = pi.x(), v = pi.y(); | ||
| double delta_u = u - u0_, delta_v = v - v0_; | ||
| double inv_f = 1.0 / fx_; | ||
| Point2 point(inv_f * delta_u, inv_f * delta_v); | ||
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| if (Dcal) { | ||
| Dcal->resize(2, 1); | ||
| (*Dcal) << -inv_f * point.x(), -inv_f * point.y(); | ||
| } | ||
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| if (Dp) { | ||
| Dp->resize(2, 2); | ||
| (*Dp) << inv_f, 0.0, // | ||
| 0.0, inv_f; | ||
| } | ||
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| return point; | ||
| } | ||
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| } // namespace gtsam |
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